WO2005092684A2 - Methode et dispositif de controle du glissement - Google Patents
Methode et dispositif de controle du glissement Download PDFInfo
- Publication number
- WO2005092684A2 WO2005092684A2 PCT/EP2005/001932 EP2005001932W WO2005092684A2 WO 2005092684 A2 WO2005092684 A2 WO 2005092684A2 EP 2005001932 W EP2005001932 W EP 2005001932W WO 2005092684 A2 WO2005092684 A2 WO 2005092684A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tire
- slip
- temperature
- tread
- contact area
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60C—VEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
- B60C23/00—Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
- B60C23/20—Devices for measuring or signalling tyre temperature only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
- B60T8/17616—Microprocessor-based systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
Definitions
- the present invention relates to the ground connection of vehicles, in particular the optimization of the forces which the tires transmit to the ground.
- ABS Advanced Driver Assistance Systems
- Other systems operating on a similar principle also improve the traction of the drive wheels.
- the objective of these systems is to keep the tire as close as possible to its best operating conditions, for a given driving situation. In fact, we know that the forces that a tire can transmit are limited by its grip potential.
- the grip potential corresponds to the ratio between the maximum horizontal transmissible force and the vertical load carried by the tire in a given rolling situation.
- the adhesion potential is often designated "U max " -
- F i mx max (where F max is the maximum horizontal force and ⁇ z the vertical load carried)
- the adhesion potential ( ⁇ maX ) varies at all times depending on the conditions of contact between the tire and the ground.
- ⁇ max The adhesion potential
- type of tire internal pressure, tire temperatures, load carried, rotational speed, slip speed, slip rate, type of soil, temperature of the soil, ambient air, presence or absence of water on the soil, combination of longitudinal and transverse forces.
- the horizontal transmissible force (F max ) can be determined experimentally, for example by implementing a complete experiment plan. So if we could know all the parameters at all times, we could deduce at each instant the horizontal transmissible force (F max ). This is however impossible in practice since it is not possible to carry out all of these measurements in real time and permanently on a vehicle and on a commercial tire. This is why we do not currently know of vehicles or systems using a determination of the grip potential in real time during normal use of the vehicle.
- the known systems mentioned above are based on the principle of a regulation of the slip rate.
- the slip rate is indeed a variable accessible in real time in a relatively reliable manner, for example by measuring and comparing the rotation speed of the different wheels of a vehicle.
- the slip rate is one of the parameters of the operating conditions which depends directly on the adhesion conditions, it is accepted that it is a good regulation parameter.
- the regulation targets a slip rate considered to be "optimal" supposed to correspond to the optimal functioning of the tire. In order to maintain the slip rate at its optimal level, action is taken either on the torque transmitted to the wheels by the braking system or on that transmitted by the vehicle engine or even on both.
- the invention provides a method of controlling the slip of a tire of a motor vehicle, said tire comprising a tread, said method consisting in adjusting said slip from the measurement of a variable related to the surface temperature. of the tread in the tire contact area with the road.
- the principle of this adjustment is to increase the sliding when the surface temperature must be increased and reduce slippage when the temperature must be decreased.
- the maximum horizontal force transmissible in the contact area is obtained when the temperature of the surface of the tire in contact with the ground is maintained within a relatively narrow range of variation and that one can act on this temperature by means of the sliding of the wheel.
- the adhesion potential of the tire can be optimized because it acts on the operating parameters of the tire so that it works continuously under the best thermal conditions from the point of view of adhesion.
- the principle of the invention differs in particular by the fact that the aim is no longer solely to exploit the entire adhesion potential independently of the surface temperature but that the it also acts on the surface temperature of the tread material to optimize the adhesion potential throughout the stress.
- the slip is adjusted in order to obtain a given temperature of the surface of the tire.
- the slip that is to say the fact that the tread of a tire slides relative to the ground when the tire transmits a force as low as it is, can be quantified in the form of the slip speed or under the form of the slip rate in a known manner in the field of tires.
- Acting on the slip therefore corresponds to increasing or reducing (in absolute value) the sliding speed or the sliding rate. Furthermore, for stable conditions, when the slip increases, the surface temperature of the tread in the contact area increases. On the contrary, when the slip decreases, the temperature of the tread in the contact area decreases. This is due to the effect of friction.
- the optimum target temperature depends largely on the material used in the tread (or on the surface of the tread). Certain rubber compositions reach their maximum adhesion at a temperature of approximately 20 ° C. while others only reach it at approximately 120 ° C. In addition, this optimum temperature value may vary slightly depending on the slip and the characteristics of the soil.
- the surface temperature of the tread can be measured outside the contact area of the tire.
- the surface temperature outside the contact area is well linked to that prevailing in the contact area and a measurement outside the contact area is relatively simple to perform.
- the surface temperature considered or measured may be an average over a given area or over a limited number of points, provided that the variations are well representative of the temperature variations in the contact area.
- the invention also relates to a device for controlling the slip of a tire of a motor vehicle, said device comprising at least one means capable of adjusting the slip and a means of measuring a variable related to the surface temperature of the tire. tread of said tire in the contact area.
- FIG. 1 schematically represents the principle of the control device according to the invention.
- FIGS. 2a and 2b are block diagrams of examples of implementation of the control method according to the invention.
- FIG. 3 is a graph showing an example of evolution of the adhesion potential as a function of the surface temperature.
- FIG. 4 is a graph making it possible to compare the evolution of the adhesion potential as a function of the surface temperature for two different sliding speeds.
- Figure 5 is a graph showing the relationship between the optimal surface temperature and the sliding speed.
- a tire (1) is shown diagrammatically rolling on the ground (S).
- This tire is subjected to a torque (C) around its axis and to a vertical load (Fz) on the part of the vehicle that it carries (the vehicle is not shown here).
- the tire develops a contact area (2) through which the ground transmits to the tire a horizontal force, for example a only longitudinal force (Fx).
- Fx longitudinal force
- a measuring means (4) for example a thermal camera or an infrared sensor, placed in the vicinity of the exit from the contact area, observes the surface of the tread (3) and provides a signal representative of the temperature of said surface.
- This measurement means is connected to a computer (5).
- This computer can adjust, for example via the engine management system or the braking system, the torque (C) transmitted to the wheel and / or the speed of rotation of the wheel and thus act on the slip in function of temperature measurement.
- the surface temperature of the tread in the contact area (2) is “T 2 "
- the speed of rotation of the wheel is “ ⁇ R”
- the sliding speed is worth “Vg”
- the slip rate is worth “G%”
- the ratio between transmitted force (Fx) and load (Fz) is worth “ ⁇ ”.
- the surface temperature (T 3 ) of the tread (3) outside the contact area is a variable correlated to the surface temperature (T 2 ) of the tread in the contact area (0 2). Naturally, this correlation varies in particular depending on the location of the measurement. It is easy to understand that the temperature measured near the exit from the contact area is a more faithful representation of the temperature in the contact area than a measurement carried out for example near the entry to the contact area. contact. 5
- the fidelity of the variable (T 3 ) measured outside the contact area with respect to the surface temperature of the tread in the contact area (T 2 ) can be improved by taking taking into account at least one corrective variable such as the speed of the vehicle, the slip, the temperature of the outside air or of the ground or the temperature of the air contained in the tire. However, if this surface temperature measurement (T 3 ) is carried out at the exit from the contact area, there is already a variable entirely representative of the temperature in the contact area (T 2 ).
- FIG. 2a an example of an algorithm implementing the method according to the invention is shown graphically.
- the computer checks periodically (for example with a frequency of 100 Hz) or even in real time whether the braking or acceleration demand expressed by the driver increases or not. As long as demand does not increase, no action is taken. If the demand increases, the measured temperature (T 3 in this example) is compared to the optimum target temperature (T 3 opti in this example).
- T 3 is then less than T 3 opti, this means that the adhesion potential ( ⁇ max ) can be increased if the temperature in the contact area is increased.
- the computer then commands the actuators concerned (engine / transmission or braking system) to increase their stress on the tire in order to increase the slip (G). This increase in sliding then has the consequence of increasing the temperature in the contact area (T 2) and therefore increasing the temperature measured outside the contact area (T 3 ).
- T 3 is greater than T 3 opti, this means that the adhesion potential ( ⁇ max ) can be increased if the temperature in the contact area decreases.
- the computer commands the actuators concerned (engine / transmission or braking system) to reduce their stress on the tire in order to reduce the slip (G) which has the consequence of reducing T 2 and consequently T 3 .
- FIG. 2b another example of an algorithm implementing the method according to the invention has been shown graphically.
- the computer periodically compares (for example with a frequency of 100 Hz) or even in real time the measured temperature (T 3 ) with the optimal target temperature (T 3 opti).
- T 3 is less than T 3 opti, this means that the adhesion potential ( ⁇ ma ⁇ ) can be increased by increasing the temperature in the contact area. If under these conditions the driver of the vehicle increases his request for acceleration or braking, the computer commands the actuators concerned to increase their stress on the tire in order to increase the slip (G). This increase in the slip then has the consequence of increasing T 2 and consequently T 3 . If T 3 is greater than T 3 opti, this means that the adhesion potential ( ⁇ max ) can be increased if the temperature in the contact area decreases. Under these conditions, the computer commands the actuators concerned to reduce their stress on the tire in order to reduce the slip (G), which has the consequence of reducing T 2 and consequently T 3 . In this situation, taking into account the driver's intention is not essential.
- the intention of the driver can be deduced (in a manner known per se) for example according to the positions imposed on the accelerator and brake pedals by the driver or according to the forces exerted on said pedals.
- this detection of the need to optimize the adhesion potential can be based on crossing a slip threshold.
- a level of slip for example comparable to that at which a conventional ABS system triggers a correction can be considered as a reliable indication of the fact that an optimization of the adhesion potential is desirable.
- FIG. 3 is a graph showing an example of evolution of the adhesion potential ( ⁇ ma ⁇ ) as a function of the temperature (T 2 ) in the contact area.
- T 2 the temperature
- a principle of the invention is to seek to maintain the surface of the tire in the contact area in the vicinity of this optimum temperature at least in the phases where it is desired to transmit the greatest forces, that is to say when it is desired to have the maximum grip potential of the tire. This is generally the case for emergency braking or during accelerations or strong starts.
- FIG. 4 is a graph making it possible to compare two curves similar to that of FIG. 3. Each curve corresponds to a different sliding speed, the other conditions remaining identical. It can be seen that the two curves are generally offset from one another. If we observe the optimal temperature (T opti) for each curve, we see that it increases when the sliding speed increases. This trend is even more visible in FIG. 5 which shows an example of the evolution of the optimal temperature (T 2 opti) as a function of the sliding speed.
- the method may include at each cycle (or at a different frequency) a step at which the optimum temperature is determined as a function of the effective sliding speed.
- the fidelity of the variable (T 3 ) measured outside the contact area with respect to the surface temperature of the tread in the contact area (T 2 ) can be improved by taking into account d '' at least one corrective variable such as the running speed, the slip, the temperature of the outside or ground air or the temperature of the air contained in the tire.
- this surface temperature measurement (T 3 ) is carried out at the exit from the contact area, there is already a parameter entirely representative of the temperature (T 2 ) in the area of contact.
- the method and the device of the invention can be implemented on a steered or non-steered, driving or non-driving axle.
- the method can be applied independently to each wheel of the vehicle or by integrating the measurements of two or more wheels for example to take into account the availability of means for controlling the torque exerted on the wheels by the engine or the brakes.
- the invention may in particular be advantageously applied to fast and powerful vehicles.
- the vehicle is equipped with means for measuring its acceleration, it may be advantageous to punctually or periodically “calibrate” the calculation data used by the computer. It is indeed possible during a significant acceleration to carry out a series of measurements of surface temperature (or of the variable linked to the temperature which is used) and in parallel a series of measurements of forces transmitted to the wheels or of measurements of vehicle acceleration. We can then determine for which temperature the acceleration or the force produced is actually maximum and readjust if necessary the calculation data used in the slip control and in particular in the determination of the optimal target temperature.
- This calibration can for example make it possible to take account of changes in the driving conditions (for example in the nature and the state of the ground) or the evolution of the characteristics of the materials in contact with the ground due for example to aging and progressive wear of the tire tread.
- the invention applies not only for driving in a straight line but also when cornering. In fact, as we saw above, when cornering the forces (F) transmitted by the tire are both longitudinal (Fx) and transverse (Fy). The adhesion potential is therefore "consumed” at the same time by the development of the two components (Fx and Fy).
- the method of the invention has the effect of optimizing the adhesion potential independently of the direction demand, that is to say also the potential available to develop transversal efforts.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Tires In General (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007500148A JP4694558B2 (ja) | 2004-02-27 | 2005-02-24 | スリップを制御する方法及び装置 |
EP05707606.9A EP1720752B1 (fr) | 2004-02-27 | 2005-02-24 | Methode et dispositif de controle du glissement |
US10/591,018 US7725235B2 (en) | 2004-02-27 | 2005-02-24 | Slip-control method and device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0401988 | 2004-02-27 | ||
FR0401988A FR2866853B1 (fr) | 2004-02-27 | 2004-02-27 | Methode et dispositif de controle du glissement |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2005092684A2 true WO2005092684A2 (fr) | 2005-10-06 |
WO2005092684A3 WO2005092684A3 (fr) | 2007-01-11 |
Family
ID=34834092
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/001932 WO2005092684A2 (fr) | 2004-02-27 | 2005-02-24 | Methode et dispositif de controle du glissement |
Country Status (5)
Country | Link |
---|---|
US (1) | US7725235B2 (fr) |
EP (1) | EP1720752B1 (fr) |
JP (1) | JP4694558B2 (fr) |
FR (1) | FR2866853B1 (fr) |
WO (1) | WO2005092684A2 (fr) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008075126A1 (fr) * | 2006-12-21 | 2008-06-26 | Pirelli Tyre S.P.A. | Méthode et appareil permettant de déterminer les conditions d'adhérence d'un pneu de véhicule sur route |
DE102007060032A1 (de) | 2007-12-13 | 2009-06-25 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Verfahren und Regeleinrichtung zur Antriebs- und Bremskraftkontrolle eines Fahrzeugs sowie ein Fahrzeug mit der Regeleinrichtung |
WO2009100836A1 (fr) * | 2008-02-15 | 2009-08-20 | Bayer Materialscience Ag | Chariot de manutention avec un dispositif pour réduire l’usure de roues équipées de bandages élastiques |
EP2612797B1 (fr) * | 2010-09-03 | 2019-05-01 | Toyota Jidosha Kabushiki Kaisha | Système et dispositif de commande de véhicule |
US8718868B2 (en) * | 2011-06-30 | 2014-05-06 | GM Global Technology Operations LLC | Vehicle using tire temperature to adjust active chassis systems |
CN102951135B (zh) * | 2011-08-22 | 2017-01-18 | 王德红 | 轮径变化及高速爆胎安全行驶控制和救助系统 |
ITVI20120193A1 (it) * | 2012-08-01 | 2014-02-02 | Luca Sgolmin | Una gruppo di monitoraggio dell¿aderenza dei pneumatici di un veicolo sul terreno |
DE102013012701A1 (de) * | 2013-07-30 | 2015-04-23 | Sebastian Barteldes | Leistungsfreigabe anhand gemessener Reifentemperatur |
US9963132B2 (en) * | 2014-11-10 | 2018-05-08 | The Goodyear Tire & Rubber Company | Tire sensor-based vehicle control system optimization and method |
CN112172870B (zh) * | 2020-10-19 | 2023-01-03 | 中车青岛四方机车车辆股份有限公司 | 一种车辆制动方法、装置及列车 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4700972A (en) * | 1985-06-20 | 1987-10-20 | Young Colin G | Computerized, central hydraulic, electronic variable suspension |
EP0818372A2 (fr) * | 1996-07-10 | 1998-01-14 | ABBPATENT GmbH | Système pour la commande de traction et de freinage d'un véhicule sur rail |
US6470731B1 (en) * | 1998-07-17 | 2002-10-29 | Continental Teves Ag & Co. Ohg | Method and device for determining a parameter for an instantaneously maximal frictional force coefficient |
US20030144786A1 (en) * | 2000-12-30 | 2003-07-31 | Ulrich Hessmert | System and method for monitoring the traction of a motor vehicle |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57177843U (fr) * | 1981-05-08 | 1982-11-10 | ||
DE10218781A1 (de) * | 2002-04-26 | 2003-11-13 | Tuev Automotive Gmbh | Auf einer Felge montierbarer Luftreifen, Sensornetz, Umdrehungsmesseinheit und Fahrzeugüberwachungssystem |
US6793177B2 (en) * | 2002-11-04 | 2004-09-21 | The Bonutti 2003 Trust-A | Active drag and thrust modulation system and method |
-
2004
- 2004-02-27 FR FR0401988A patent/FR2866853B1/fr not_active Expired - Fee Related
-
2005
- 2005-02-24 EP EP05707606.9A patent/EP1720752B1/fr not_active Not-in-force
- 2005-02-24 US US10/591,018 patent/US7725235B2/en not_active Expired - Fee Related
- 2005-02-24 JP JP2007500148A patent/JP4694558B2/ja not_active Expired - Fee Related
- 2005-02-24 WO PCT/EP2005/001932 patent/WO2005092684A2/fr active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4700972A (en) * | 1985-06-20 | 1987-10-20 | Young Colin G | Computerized, central hydraulic, electronic variable suspension |
EP0818372A2 (fr) * | 1996-07-10 | 1998-01-14 | ABBPATENT GmbH | Système pour la commande de traction et de freinage d'un véhicule sur rail |
US6470731B1 (en) * | 1998-07-17 | 2002-10-29 | Continental Teves Ag & Co. Ohg | Method and device for determining a parameter for an instantaneously maximal frictional force coefficient |
US20030144786A1 (en) * | 2000-12-30 | 2003-07-31 | Ulrich Hessmert | System and method for monitoring the traction of a motor vehicle |
Also Published As
Publication number | Publication date |
---|---|
FR2866853A1 (fr) | 2005-09-02 |
EP1720752A2 (fr) | 2006-11-15 |
JP4694558B2 (ja) | 2011-06-08 |
EP1720752B1 (fr) | 2013-04-10 |
JP2007526164A (ja) | 2007-09-13 |
US20070289795A1 (en) | 2007-12-20 |
FR2866853B1 (fr) | 2006-05-26 |
WO2005092684A3 (fr) | 2007-01-11 |
US7725235B2 (en) | 2010-05-25 |
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